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US20240197274A1 - X-ray diagnostic apparatus and image processing method - Google Patents

X-ray diagnostic apparatus and image processing method Download PDF

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Publication number
US20240197274A1
US20240197274A1 US18/534,886 US202318534886A US2024197274A1 US 20240197274 A1 US20240197274 A1 US 20240197274A1 US 202318534886 A US202318534886 A US 202318534886A US 2024197274 A1 US2024197274 A1 US 2024197274A1
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United States
Prior art keywords
image
ray
human body
body model
predicted
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US18/534,886
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English (en)
Inventor
Daisuke Sato
Yoshimasa Kobayashi
Katsuo Takahashi
Suzuna SAITO
Takahiro Tanaka
Katsunori Kojima
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Canon Medical Systems Corp
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Canon Medical Systems Corp
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Assigned to CANON MEDICAL SYSTEMS CORPORATION reassignment CANON MEDICAL SYSTEMS CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KOBAYASHI, YOSHIMASA, KOJIMA, KATSUNORI, SAITO, SUZUNA, SATO, DAISUKE, TAKAHASHI, KATSUO, TANAKA, TAKAHIRO
Publication of US20240197274A1 publication Critical patent/US20240197274A1/en
Pending legal-status Critical Current

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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A—HUMAN NECESSITIES
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    • A61B6/0487—Motor-assisted positioning
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    • A61B6/46—Arrangements for interfacing with the operator or the patient
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    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4452—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being able to move relative to each other
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    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4464—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being mounted to ceiling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/505—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of bone

Definitions

  • Disclosed embodiments relate to an X-ray diagnostic apparatus and an image processing method.
  • imaging part refers to an X-ray data acquisition range defined as an anatomical site of a human body such as the head and the chest of an object or a patient, for example.
  • the actual acquired X-ray image may remain unclear, and the user has to predict what the X-ray image may show on the basis of conditions such as the posture of the object and the positional relationship between bones and/or organs, and re-imaging may be required in some cases depending on difference in skill and experience between users.
  • FIG. 1 is a perspective view illustrating appearance of a part of an X-ray diagnostic apparatus according to the first embodiment
  • FIG. 2 is a schematic diagram illustrating a configuration of the X-ray diagnostic apparatus according to the first embodiment
  • FIG. 3 is a schematic diagram illustrating operation of the X-ray diagnostic apparatus according to the first embodiment
  • FIG. 4 is a schematic diagram illustrating a human body model according to the first embodiment
  • FIG. 5 is a flowchart illustrating operation of the X-ray diagnostic apparatus according to the first embodiment
  • FIG. 6 is a schematic diagram illustrating positioning detection and setting of the human body model according to the first embodiment
  • FIG. 7 A to FIG. 7 C are schematic diagrams illustrating predicted X-ray images according to the first embodiment
  • FIG. 8 is a schematic diagram illustrating a configuration of the X-ray diagnostic apparatus according to a modification of the first embodiment
  • FIG. 9 is a flowchart illustrating operation of the X-ray diagnostic apparatus according to the modification of the first embodiment
  • FIG. 10 is a schematic diagram illustrating selection of the human body model according to the modification of the first embodiment
  • FIG. 11 is a schematic diagram illustrating a configuration of the X-ray diagnostic apparatus according to the second embodiment
  • FIG. 12 is a flowchart illustrating operation of the X-ray diagnostic apparatus according to the second embodiment
  • FIG. 13 is a flowchart illustrating operation of the X-ray diagnostic apparatus according to a modification of the second embodiment.
  • FIG. 14 is a schematic diagram illustrating operation of the X-ray diagnostic apparatus according to the modification of the second embodiment.
  • an X-ray diagnostic apparatus comprising: an X-ray tube configured to irradiate an imaging part of an object with X-rays; an X-ray detector configured to detect the X-rays; an image sensor configured to image the object; and processing circuitry configured to acquire: a human body model; image data from the image sensor; and imaging geometry information, detect positioning of the object from the image data, set the human body model based on detected positioning of the object, generating a predicted X-ray image that is predicted to be detected by the X-ray detector, by using the set human body model and the imaging geometry information, and display the predicted X-ray image.
  • FIG. 1 is a perspective view illustrating appearance of a part of an X-ray diagnostic apparatus 1 according to the first embodiment.
  • FIG. 2 is a schematic diagram illustrating a configuration of the X-ray diagnostic apparatus 1 according to the first embodiment.
  • Aspects of the X-ray diagnostic apparatus 1 include, for example, a plain X-ray apparatus such as an X-ray radiography apparatus.
  • the X-ray diagnostic apparatus 1 includes a scanner 10 and an image processing device 30 (for example, a console 30 ).
  • the scanner 10 includes a tube holder 11 , an upright-position examining table 12 , an upright-position detector unit 13 , a bed 14 , a decubitus-position detector unit 15 , a ceiling rail 16 , a carriage 17 , a supporting column 18 , a high voltage generator 19 , and an image sensor S.
  • the height direction of the upright-position examining table 12 is defined as the Y-axis direction
  • the left-right direction of the object standing on the upright-position examining table 12 is defined as the X-axis direction
  • the direction orthogonal to both the X-axis direction and the Y-axis direction is defined as the Z-axis direction.
  • the tube holder 11 holds an X-ray tube 11 a , an X-ray variable aperture 11 b , and an operation panel 11 c .
  • the X-ray tube 11 a receives power supply from the high voltage generator 19 and radiates X-rays to the imaging part of the object placed in front of the upright-position examining table 12 or placed on the bed 14 .
  • the X-ray variable aperture 11 b is composed of a plurality of aperture blades, for example.
  • Each of the aperture blades is composed of a tabular lead blade to shield X-rays, for example.
  • the region surrounded by the plurality of aperture blades forms an aperture through which X-rays pass.
  • the operation panel 11 c is composed of, for example, a liquid crystal display, and is attached to the outer wall of the tube holder 11 .
  • the operation panel 11 c can be configured by adapting a GUI (Graphical User Interface), which makes extensive use of graphics when displaying information on a display to a user and allows basic operations to be performed by using an input interface.
  • the operation panel 11 c can also display various images such as a camera image acquired by the image sensor S configured to image the object P as described below and display various information items such as information for assisting the user in positioning of the object P.
  • the tube holder 11 is engaged with the supporting column 18 so as to be able to rotate the tube holder 11 in the direction Mr around the axis (i.e., X-axis) that passes through the X-ray focal point F of the X-ray tube 11 a and is orthogonal to the extension and contraction direction of the supporting column 18 .
  • the X-ray tube 11 a is rotatable within a range of ⁇ 180° to +180° in the rotational direction around the X-axis, Y-axis, or Z-axis passing through the X-ray focal point F.
  • the image sensor S performs optical imaging and generates camera images or moving images under the control of the processing circuitry 31 of the image processing device 30 .
  • the imaging range of the image sensor S includes the range where the X-rays radiated to the imaging part of the object P are detected by the X-ray detector. At least one image sensor S is attached to the tube holder 11 holding the X-ray tube 11 a at the same side from which the X-rays are emitted.
  • the imaging range and imaging angle of the image sensor S can follow the X-ray irradiation range and the X-ray irradiation angle to the object P which are changed respectively in conjunction with the movement of the tube holder 11 holding the X-ray tube 11 a and the rotation of the X-ray tube 11 a around the X-ray focal point F.
  • the image sensor S may be attached near the X-ray exit of the tube holder 11 .
  • the actual positioning of the object P can be detected in two dimensions. Furthermore, when a plurality of image sensors S are provided and the same part of the object P is imaged by the plurality of image sensors S, the actual positioning of the object P can be three-dimensionally detected from the plurality of camera images by using the principle of a stereo camera, for example.
  • the image sensor S includes a camera such as a CCD (Charge Coupled Device) camera and a CMOS (Complementary Metal Oxide Semiconductor) camera and a TV camera.
  • the image sensor S may be an infrared camera.
  • an infrared camera is used as the image sensor S, the physique of the object P, and the positioning such as posture of the object P, can be detected without being interrupted by examination clothes, for example.
  • the upright-position detector unit 13 is supported by the upright-position examining table 12 disposed vertically at a position facing the tube holder 11 , which enables detection of X-rays from the X-ray tube 11 a .
  • the upright-position detector unit 13 changes its height along the upright-position examining table 12 in accordance with change in height of the tube holder 11 under the control of the processing circuitry 31 of the image processing device 30 .
  • the upright-position detector unit 13 includes an upright-position FPD (Flat Panel Detector) 13 a and an A/D (Analog to digital) conversion circuit (not shown), for example.
  • the upright-position FPD 13 a has two-dimensionally arranged detection elements and detects X-rays.
  • the A/D conversion circuit converts the output signal of the upright-position FPD 13 a into a digital signal. Further, a grid may be provided in front of the upright-position FPD 13 a .
  • the upright-position FPD 13 a detects transmitted X-rays from the object P in the upright position by simple X-ray radiography, and outputs them to the image processing device 30 as image signals.
  • the bed 14 is used as a decubitus-position examination table that can hold the object P in the decubitus position or sitting position.
  • the bed 14 is supported by the floor and has a table 14 a on which the object P is placed.
  • the table 14 a can slide in the X-axis direction and in the Z-axis direction, move up and down in the Y-axis direction, and roll under the control of the processing circuitry 31 of the image processing device 30 .
  • the decubitus-position detector unit 15 is supported by the bed 14 .
  • the decubitus-position detector unit 15 has the same structure and function as the upright-position detector unit 13 described above, except that the object P is not imaged in the upright position but in the decubitus or sitting position.
  • the decubitus-position FPD 15 a and the upright-position FPD 13 a are both one of the X-ray detectors.
  • the decubitus-position FPD 15 a has the same structure and function as the upright-position FPD 13 a , thereby in the description of the upright-position FPD 13 a , the upright-position FPD 13 a can be read as the decubitus-position FPD 15 a.
  • the ceiling rail 16 is installed on a ceiling C.
  • the carriage 17 supports the tube holder 11 via the supporting column 18 .
  • the carriage 17 is movably engaged with the ceiling rail 16 in the direction Mz in parallel with the Z-axis along the ceiling rail 16 .
  • the carriage 17 is configured in such a manner that the tube holder 11 is movable between the side of the upright-position examining table 12 and the side of the bed 14 under the control of the processing circuitry 31 of the image processing device 30 or by manual control. In other words, the carriage 17 can change the distance (Source Image Receptor Distance: SID) between the X-ray tube 11 a (X-ray focal point F) and the upright-position FPD 13 a .
  • the carriage 17 may be installed in such a manner that the carriage 17 can move not only in the direction Mz along the ceiling rail 16 but also in the direction parallel to the X-axis.
  • the supporting column 18 which is supported by the carriage 17 , supports the tube holder 11 at its lower end.
  • the supporting column 18 is engaged with the carriage 17 so as to be movable in the direction My parallel to the Y-axis.
  • the supporting column 18 is telescopic along the direction My under the control of the processing circuitry 31 of the image processing device 30 .
  • the supporting column 18 can change the distance (SID) between the X-ray tube 11 a (X-ray focal point F) and the decubitus-position FPD 15 a.
  • the high voltage generator 19 can supply high voltage power to the X-ray tube 11 a of the tube holder 11 under the control of the processing circuitry 31 of the image processing device 30 .
  • the image processing device 30 is computer-based, controls the operation of the entirety of the X-ray diagnostic apparatus 1 , and performs image processing on X-ray image data and a plurality of X-ray images acquired by the scanner 10 , for example.
  • the image processing device 30 includes the processing circuitry 31 , a memory 32 , a display 33 , an input interface 34 , and a network interface 35 .
  • the memory 32 stores various programs to be executed by the processing circuitry 31 , various data necessary for executing the programs, and/or X-ray images, for example.
  • the memory 32 has a configuration including one or more storage media readable by the processor, such as a magnetic or optical storage medium, and a semiconductor memory, and may be configured in such a manner that part or all of the programs and data in these storage media are downloaded from the network via the network interface 35 .
  • the display 33 is configured as a general display output device such as a liquid crystal display and an OLED (Organic Light Emitting Diode) display. Under the control of the processing circuitry 31 , the display 33 displays various images such as an X-ray image and a camera image generated by the image sensor S that images the object P as well as various information items including information for assisting the user in positioning of the object P.
  • various images such as an X-ray image and a camera image generated by the image sensor S that images the object P as well as various information items including information for assisting the user in positioning of the object P.
  • the input interface 34 includes an input circuit and at least one input device that can be operated by a user.
  • the input device is achieved by a track ball, a switch, a mouse, a keyboard, a touch pad by which input operation is performed by touching its operation screen, a touch screen in which the display screen and the touch pad are integrated, a non-contact input device using an optical sensor, and a voice input device, for example.
  • the input circuit When the input device is operated by the user, the input circuit generates a signal in accordance with the operation, and outputs it to the processing circuitry 31 .
  • the processing circuitry 31 includes a special-purpose or general-purpose processor, and implements various functions related to the image processing method described below through software processing in which the programs stored in the memory 32 are executed. In addition, the processing circuitry 31 integrally controls each component of the scanner 10 .
  • the processing circuitry 31 may be configured of hardware such as an ASIC (Application Specific Integrated Circuit) and a programmable logic device including an FPGA (Field Programmable Gate Array).
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the various functions described below can also be implemented by hardware processing using such hardware. Additionally, the processing circuitry 31 can implement the various functions described below by combining hardware processing and software processing.
  • the processing circuitry 31 implements each of an information acquisition function 311 , a detection function 312 , a predicted-image generation function 313 , and a display function 314 .
  • the information acquisition function 311 acquires a human body model, image data obtained from the image sensor S, and imaging geometry information.
  • the detection function 312 detects the positioning of the object P from the image data.
  • the predicted-image generation function 313 sets a human body model on the basis of the positioning of the object P detected by the detection function 312 , and uses the human body model that has been subjected to setting and the imaging geometry information to generate a predicted X-ray image that is predicted to be detected by the X-ray detector.
  • the display function 314 displays the predicted X-ray image.
  • the image sensor S is attached to the tube holder 11 in such a manner that allows the image sensor S to image the object P in the same direction as the X-ray irradiation direction, and then the imaging is performed to generate one or more camera images of the object P.
  • the human body model is a three-dimensional human body model composed of digital data, which can be obtained via a portable recording medium and/or telecommunication lines such as the Internet, for example.
  • the human body model includes at least the skeleton of a human body, and may also include organs and/or tissues such as blood vessels, internal organs, and muscles in addition to the skeleton.
  • the human body model may be configured in such a manner that each body part of the human body model moves from a reference position of a reference human body model on the basis of command information that gives instruction of a predetermined movement.
  • a user may provide the command information via the input interface 34 or the processing circuitry 31 may provide the command information.
  • the human body model may be configured in such a manner that most body parts such as the head, the neck, the shoulders, the chest, the abdomen, the upper arms, the elbows, the forearms, the hands, the buttocks, the thighs, the knees, the lower legs, and the feet move on the basis of the command information.
  • the human body model may be configured in such a manner that its posture or pose is changed on the basis of the command information.
  • the human body model may be configured in such a manner that (i) the skeleton of each body part is moved on the basis of the command information and in accordance with the natural movement of the object or person and (ii) the organs and tissues such as blood vessels, internal organs, and muscles are also moved in conjunction with the movement of the skeleton.
  • the human body model may be a virtual human body model generated by Artificial Intelligence such as generative AI, or a known program.
  • the generative AI is, for example, a machine learning model built by deep learning, which uses trained data to generate new data.
  • FIG. 4 illustrates the human body model according to the first embodiment. As shown in FIG. 4 , the generative AI is configured in such a manner that a human body model is outputted in response to input of a camera image generated by the image sensor S. In other words, the human body model may be generated by the generative AI in a customized or specialized manner on the basis of the positioning of the object P.
  • a two-dimensional image serving as the predicted X-ray image is generated on the basis of the imaging geometry information and the human body model that is set in the above-described manner.
  • a predicted X-ray image is an image predicted to be generated when X-rays radiated to the imaging part of the object P are transmitted through this imaging part and detected by the X-ray detector, and is a two-dimensional image in which the human body model is virtually positioned.
  • the imaging geometry information means geometric information that defines the position and/or size of the object P in the X-ray image, such as the X-ray irradiation angle to the object P, the X-ray irradiation range to the object P, and the distance from the X-ray tube to the object P.
  • each function of the processing circuitry 31 will be described in detail on the basis of the flowchart of FIG. 5 by referring to FIG. 6 and FIG. 7 as required.
  • FIG. 5 , FIG. 9 , FIG. 12 , and FIG. 13 to facilitate understanding, the steps to be executed by the X-ray diagnostic apparatus 1 are shown in solid lines, whereas the steps based on an action and determination of a user are shown in broken lines.
  • a user such as a medical imaging technologist performs initial positioning of the object P in such a manner that the desired imaging part of the object P is imaged. Since the step ST 10 is an action and determination made by the user, the initial positioning of the object P may vary depending on difference in skill and experience between users.
  • the information acquisition function 311 acquires the human body model.
  • the information acquisition function 311 can acquire appropriate one of the human body models stored in advance in the memory 32 or the human body model downloaded from the network via the network interface 35 , for example. Aside from those, the information acquisition function 311 can acquire the human body model generated by the generative AI.
  • the information acquisition function 311 acquires at least one camera image generated by the image sensor S.
  • the information acquisition function 311 acquires the imaging geometry information including the X-ray irradiation angle to the object P.
  • the detection function 312 detects the actual positioning of the object P from the camera image that is generated by the image sensor S and is acquired by the information acquisition function 311 .
  • the predicted-image generation function 313 virtually sets the body parts of the human body model acquired by the information acquisition function 311 in such a manner that the respective body parts correspond to the actual positioning of the object P detected by the detection function 312 , and generates a virtually positioned predicted X-ray image, i.e., a predicted X-ray image in which virtual positioning is reflected.
  • the actual positioning of the object P is detected by detecting the skeletal information such as a plurality of joints and facial parts of the object P from one or more camera images generated by the image sensor S.
  • the body parts of the three-dimensional human body model are moved on the basis of the imaging geometry information such as the X-ray irradiation angle to the object P, and are moved according to the actual positioning of the detected object P, such as the orientation of the body of the object P with respect to the X-ray exit port, the posture of the object P, and positional relationship between the respective body parts such as limbs.
  • the moved human body model and the imaging geometry information On the basis of the moved human body model and the imaging geometry information, a predicted X-ray image predicted to be generated when X-rays radiated to the imaging part of the object P are detected by the X-ray detector is then generated.
  • the predicted X-ray image is generated as a two-dimensional image of the human body model that has been subjected to virtual positioning so as to match the actual positioning of the object P.
  • the body parts of the human body model do not need to be moved.
  • the predicted X-ray image predicted to be generated when X-rays radiated to the imaging part of the object P are detected by the X-ray detector is then generated.
  • FIG. 6 shows a situation where the entirety of the object P is detected by the image sensor S and the X-ray detector, rather than a specific part of the object P.
  • the display function 314 displays the predicted X-ray image generated by the predicted-image generation function 313 .
  • the predicted X-ray image is displayed on the operation panel 11 c and/or the display 33 , for example.
  • the display function 314 may change the display method of the predicted X-ray image depending on, for example, the imaging part and the examination purpose. For example, in the case of orthopedic diagnosis and treatment, a predicted X-ray image of only bones may be displayed. In the case of diagnosis and treatment in internal medicine and/or a gastrointestinal division where internal parts such as the abdomen are imaged, organs such as the liver, the kidneys, and the iliopsoas muscles may be displayed together with bones in the predicted X-ray image.
  • FIG. 7 A to FIG. 7 C are schematic diagrams illustrating predicted X-ray images according to the first embodiment.
  • FIG. 7 A illustrates a predicted X-ray image showing organs and bones
  • FIG. 7 B illustrates a predicted X-ray image showing muscles and bones
  • FIG. 7 C illustrates a predicted X-ray image showing blood vessels and bones.
  • the display function 314 may display semi-transparent bones or only the outlines of the bones in the predicted X-ray image.
  • the range of the predicted X-ray image to be displayed may be the same as the range of the actual X-ray radiographic image to be generated when the X-rays radiated to the imaging part of the object P are detected by the X-ray detector. Additionally or alternatively, the range of the predicted X-ray image to be displayed may be slightly wider than the range of the actual X-ray radiographic image so that an outline corresponding to the range of the actual X-ray radiographic is superimposed and displayed on the predicted X-ray image.
  • the user determines whether the displayed predicted X-ray image is as desired or not. If the user determines that the displayed predicted X-ray image is as desired (YES in the step ST 80 ), under the state where the object P maintains its positioning, the X-ray diagnostic apparatus 1 images the object P. If the user determines that the displayed predicted X-ray image is not as desired (NO in the step ST 80 ), the processing proceeds to the step ST 100 .
  • the user performs repositioning of the object P.
  • the user may orally or visually instruct the object P on the position or the posture for the repositioning so that the predicted X-ray image to be displayed will be closer to the desired one in terms of positioning.
  • the X-ray diagnostic apparatus 1 may adjust the placement of equipment and device such as the direction of the exit port of the X-ray tube 11 a and the position of the X-ray detector under the control of the processing circuitry 31 in such a manner that the X-ray irradiation range and the irradiation angle become more appropriate for acquiring the desired predicted X-ray image.
  • the processing After completion of the step ST 100 , the processing returns to the step ST 30 in which the predicted X-ray image after repositioning is generated.
  • FIG. 5 illustrates the case of repeating the processing from the step ST 30 to the step ST 70 until the predicted X-ray image substantially matches the desired one in terms of positioning. However, if the user determines the desired predicted X-ray image can very likely be obtained after repositioning, the X-ray diagnostic apparatus 1 may perform X-ray imaging without returning to the step ST 30 .
  • the user before performing an actual X-ray imaging, the user can check the predicted X-ray image that is generated based on the actual positioning of the object P from the camera image acquired by the image sensor S. This check can reduce the number of re-imaging due to inappropriate positioning of the object P caused by difference in skill and experience between users. Further, the addition of the simple configuration of the image sensor S enables assistance in repositioning the object P without increasing radiation dose.
  • FIG. 8 is a schematic diagram illustrating a configuration of the X-ray diagnostic apparatus 1 according to a modification of the first embodiment. As shown in FIG. 8 , the modification of the first embodiment differs from the first embodiment in that the processing circuitry 31 is further provided with a human-body-model selection function 315 .
  • FIG. 9 is a flowchart illustrating operation of the X-ray diagnostic apparatus 1 according to the modification of the first embodiment.
  • the modification of the first embodiment differs from the first embodiment in that a plurality of human body models are acquired in the step ST 20 B and processing of selecting one human body model from the plurality of human body models is performed in the step ST 41 , whereas only one human body model is acquired in the first embodiment. Since the rest of the configurations and operation are not substantially different from that of the X-ray diagnostic apparatus 1 shown in FIG. 2 , the same reference signs are given to the same configurations, and duplicate description is omitted. The same steps as those in FIG. 5 are denoted by the same reference signs, and duplicate description is omitted.
  • the information acquisition function 311 acquires a plurality of human body models.
  • Each of the plurality of human body models is a three-dimensional model including the skeleton of the human body.
  • Each human body model may contain organs and tissues such as blood vessels, internal organs, and muscles.
  • the information acquisition function 311 can acquire the plurality of human body models from the human body models stored in advance in the memory 32 and the human body models downloaded from the network via the network interface 35 , for example.
  • the plurality of human body models to be acquired in the step ST 20 B include, for example, a human body model with a standard body shape for each gender and each age and another human body model with a characterized body shape in terms of skeleton or physique.
  • the human body model with the characterized body shape in terms of skeleton or physique means a human body model that is limited to a special range of values of at least one of its skeleton parameters such as height, weight, sitting height, shoulder width, hip width, and limb length as well as its physique parameters such as flesh consists of organs and tissues.
  • the plurality of human body models may be human body models generated from medical diagnostic images such as CT images and MRI images that are acquired in the past.
  • the plurality of human body models may be, for example, a plurality of human body models that are different in positioning from each other.
  • the information acquisition function 311 may be configured to be able to acquire human body models that are different in positioning depending on the type of diagnosis and treatment.
  • the processing from the step ST 30 to the step ST 40 is the same as the processing in the first embodiment ( FIG. 5 ).
  • the human-body-model selection function 315 selects one human body model from the plurality of acquired human body models.
  • one human body model to be selected from the plurality of human body models is a human body model having a close physical resemblance to the skeleton or physique of the object P.
  • one human body model to be selected from the plurality of human body models is preferably a human body model generated from medical diagnostic images such as a CT image and an MRI image that are generated by imaging the same object P in the past. If a human body model that is more similar to the skeleton or physique of the object P or the human body model of the object P oneself is selected, a more accurate predicted X-ray image can be generated.
  • one human body model to be selected from the plurality of human body models may be a human body model having similar positioning of the object P.
  • the processing from the step ST 50 to the step ST 70 is the same as the processing in the first embodiment ( FIG. 5 ).
  • FIG. 10 is a schematic diagram illustrating selection of a human body model according to the modification of the first embodiment.
  • a human body model having the same gender or age of the object P may be selected from the human body models with standard body shapes of each age based on information on the gender and age of the object P obtained from the diagnostic protocol, for example. If there are large individual differences in body size, for example, the human-body-model selection function 315 may select the human body model unique to the object P that is generated from a medical diagnostic image based on diagnosis such as CT and MRI that the same object P has undergone in the past.
  • the human-body-model selection function 315 may automatically select a human body model that is close to the skeleton or physique of the object P from the camera image (s) generated by the image sensor S.
  • the human-body-model selection function 315 may detect the skeletal or physical characteristics of the object P in terms of height, weight, sitting height, shoulder width, hip width, and/or limb length from the camera image (s) generated by the image sensor S so as to select one human body model close to the skeletal or physical characteristics of the object P from the plurality of human body models that are limited to a special range of values of at least one of its skeletal parameters and physique parameters.
  • FIG. 11 is a schematic diagram illustrating a configuration of the X-ray diagnostic apparatus 1 according to the second embodiment. As shown in FIG. 11 , the second embodiment differs from the first embodiment in that the processing circuitry 31 is further provided with a pseudo-image generation function 316 and a determination function 317 .
  • FIG. 12 is a flowchart illustrating operation of the X-ray diagnostic apparatus 1 according to the second embodiment.
  • the second embodiment differs from the first embodiment in at least two points as follows. Firstly, in the second embodiment, a two-dimensional pseudo X-ray image is newly generated by setting the body parts of the three-dimensional human model to the desired positioning. Secondly, in the second embodiment, it is determined whether the generated pseudo X-ray image is equivalent to the predicted X-ray image or not. Other configurations and operation are not substantially different from that of the X-ray diagnostic apparatus 1 shown in FIG. 2 . Thus, the same reference signs are given to the same configurations, and duplicate description is omitted. The same steps as those in FIG. 5 are denoted by the same reference signs, and duplicate description is omitted.
  • the processing of the step ST 20 A is the same as the processing in the first embodiment ( FIG. 5 ).
  • the user sets the body parts of the three-dimensional human body model obtained in the step ST 20 A in such a manner that the positioning of the human body model matches the desired positioning shown in the X-ray image of the object P to be generated.
  • the user can set the body parts such as bone joints of the human body model to desired positions by operating the mouse and/or another input device of the input interface 34 so as to set the human body model to the desired positioning.
  • the three-dimensional human body model configured to be able to have the body parts set in accordance with the positioning of the object P may include organs and tissues such as skeletons, blood vessels, internal organs, and muscles and may allow organs and tissues other than bones to be moved in conjunction with movement of the bones of the human body model by user's operation.
  • the pseudo-image generation function 316 In the step ST 22 , on the basis of the imaging geometry information such as the X-ray irradiation angle, the pseudo-image generation function 316 generates a two-dimensional pseudo X-ray image of the object P that has been subjected to virtual positioning from the three-dimensional human body model that is set to match the desired positioning.
  • the display function 314 displays the pseudo X-ray image generated by the pseudo-image generation function 316 .
  • the pseudo X-ray image is displayed on the operation panel 11 c or the display 33 , for example.
  • the pseudo X-ray image may be displayed with only bones, similarly to the display method of the predicted X-ray image. Additionally or alternatively, organs, muscles, and/or blood vessels may be displayed with bones in the pseudo X-ray image, a pseudo X-ray image may be displayed with translucent bones, or a pseudo X-ray image may be displayed with only the outline of the bones.
  • the processing from the step ST 30 to the step ST 70 is the same as the processing in the first embodiment ( FIG. 5 ).
  • the user determines whether the predicted X-ray image is equivalent to the pseudo X-ray image or not. If the user determines that the predicted X-ray image is equivalent to the pseudo X-ray image (YES in the step ST 90 ), X-ray imaging is performed by the X-ray diagnostic apparatus 1 . Conversely, if the user determines that the predicted X-ray image is not equivalent to the pseudo X-ray image (NO in the step ST 90 ), the processing proceeds to the step ST 100 .
  • the user can perform repositioning of the object P before X-ray imaging while constantly checking whether the predicted X-ray image is equivalent to the desired pseudo X-ray image or not, and consequently, accuracy of the positioning of the object P can be further enhanced.
  • FIG. 13 is a flowchart illustrating operation of the X-ray diagnostic apparatus 1 according to a modification of the second embodiment.
  • the pseudo-image generation function 316 of the processing circuitry 31 performs the processing of setting the human body model in the step ST 21 B in FIG. 13 .
  • the modification of the second embodiment further differs from the second embodiment in that a new step of generating and displaying a virtual visible image of the pseudo X-ray image is executed in order to support the repositioning of the object P.
  • Other configurations and operation are not substantially different from that of the X-ray diagnostic apparatus 1 shown in FIG. 11 .
  • the same reference signs are given to the same configurations, and duplicate description is omitted.
  • the same steps as those in FIG. 12 are denoted by the same reference signs, and duplicate description is omitted.
  • step ST 20 A The processing of the step ST 20 A is the same as that of the second embodiment ( FIG. 12 )
  • the pseudo-image generation function 316 acquires information on the examination purpose that is inputted separately, and sets the body parts of the three-dimensional human body model in such a manner that the positioning of the human body model matches the positioning of the object P exemplified in a manual such as an imaging textbook as clinically ideal or standard that is set in the inputted examination purpose.
  • data stored in the memory 32 in advance may be used.
  • step ST 22 to step ST 70 is the same as the processing of the second embodiment ( FIG. 12 ).
  • the determination function determines whether the predicted X-ray image is equivalent to the pseudo X-ray image or not.
  • Known methods for determining image similarity including, for example, application of machine learning.
  • the determination on the predicted X-ray image being equivalent to the pseudo X-ray image may include a certain degree of similarity that is clinically acceptable for the examination.
  • the pseudo-image generation function 316 generates a virtual visible image that supports positioning of the imaging part of the object P.
  • FIG. 14 is a schematic diagram illustrating operation of the X-ray diagnostic apparatus 1 according to the modification of the second embodiment.
  • the body parts of the three-dimensional human body model are set in such a manner that the positioning of the object P matches the desired positioning, and the desired pseudo X-ray image is generated from the human body model that has been subjected to setting.
  • the pseudo X-ray image shows a different appearance from the actual appearance of the object P.
  • an image close to the actual appearance of the object P as exemplified by a virtual visible image of the positioning outline of the object P or a virtual camera image, is generated from the desired pseudo X-ray image as information for supporting the positioning.
  • the display function 314 displays the virtual visible image or the virtual camera image generated by the pseudo-image generation function 316 . Further, the display function 314 may display the virtual visible image or the virtual camera image together with the pseudo X-ray image, for example. The virtual visible image or the virtual camera image are displayed on the operation panel 11 c and/or the display 33 , for example.
  • the virtual visible image or the virtual camera image being close to the actual appearance of object P is displayed, and thus, the user can perform positioning of the object P by referring to the displayed image.
  • the term “processor” means a circuit such as a special-purpose or general purpose CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), a programmable logic device including an SPLD (Simple Programmable Logic Device) and a CPLD (Complex Programmable Logic Device), and an FPGA (Field Programmable Gate Array), for example.
  • the processor is a CPU, for example, the processor implements various functions by reading in and executing the programs stored in the memory.
  • the processor when the processor is an ASIC, for example, instead of storing the programs in the memory, the functions corresponding to the programs are directly incorporated in the circuit of the processor as a logic circuit. In this case, the processor implements various functions through hardware processing in which the processor reads in and executes the programs incorporated into the circuit. Additionally or alternatively, the processor can also achieve various functions by combining software processing and hardware processing.
  • the processing circuitry 31 may be configured by combining a plurality of independent processors in such a manner that each processor implements individual function. Further, when a plurality of processors are provided, each processor may be respectively provided with a memory that stores the programs, or a single memory may collectively store the programs corresponding to the functions of all the processors.

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